RU2531999C1 - Hydrofoil ship faultless careen abatement - Google Patents

Abstract

FIELD: transport.

SUBSTANCE: invention relates to ship building, particularly, to careen automatic damping devices. For faultless hydrofoil ship careen abatement measurement the following gadgets are used: flap turn angle transducer unit, careen angle transducer, differentiation angle, flap drive unit, controllers unit, the following signals being fed to inputs of the latter: flap angle deflection and derivative of careen angle evaluation. Besides, this method exploits the ship speed transducer, careen angle transducer, two careen angle evaluation diagnostics units and two careen angle evaluation filters, the following signals being fed to first inputs of the latter: flap deflection angles and ship speed.

EFFECT: higher precision of stabilisation, faultless operation of this system, careen transducer and ship ACS.

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Description

The invention relates to the field of shipbuilding - automatic control of the angular movement of the vessel. Typically, in the ways of reducing the heel of the vessel using proportional-differential "PD" of the control law:

$${\delta }_{sd}={\mathrm{TO}}_{\mathrm{one}}\theta +{\mathrm{TO}}_{2}d/dt\theta \left(\text{one}\right),$$

where: θ - roll angle signal of the vessel, taken from the roll angle sensor,

δ _rear - the set value of the rudder angle.

Dependence (1) is implemented in the controller for controlling the steering gear of the vessel (USSR AS No. 469831, IPC B63b 39/00, priority 230474).

There is a known system of moderate roll angle using the "PD" law, implemented in the Central Research Institute "Aurora" in project 14310 "Mirage". The method of automatic stabilization of the angle of heel is based on the use of directly measured angular coordinates of the vessel (V.M. Korchanov, A.G. Makovsky. Automatic control of the movement of ships. Proceedings of the XXXIV All-Russian Conference on the Control of Ships and Special Devices. Moscow. IPU RAS. 2007. Page 36-40).

The use of the method of moderate rolling of the vessel is based on the use of the roll stabilization law according to dependence (1), in which the roll angle signal θ is generated by the roll angle sensor (roll angle measurement is performed with noise and noise, which leads to overload of the steering gear when the sea is rough). Any measures that increase the reliability of operation, especially the creation of fault tolerance, are not provided for in these systems.

There is also known a method of automatically controlling the angular movement of a vessel using the “PD” control law, which is supplemented by a filter to generate estimates of the phase coordinates of the vessel (the stabilization law according to dependence (1a) was used, see patent RU No. 222.31.97, BI No. 4, 2004 adopted as a prototype). “Automatic vessel motion control equipment” contains: heading angle sensor and rudder, rudder angle sensor, steering gear, differentiator, filter forming estimates of phase coordinates of the angular motion of the vessel (track angle). The signal for evaluating the path angle from the output of the filter is input to the input of the adder controller, the signal of the rudder angle is also input to the adder input, from the output of the rudder angle sensor. At the output of the adder, a signal is generated to control the angular movement of the vessel, which is input to the input of the steering gear. The course angle estimation signal is algebraically summed with the course angle signal taken from the rudder angle sensor. The difference of these two signals is input to the filter input, to the second input of which the rudder angle signal is inputted from the rudder angle sensor. Thus, in the considered method of controlling the angular movement of the vessel, the following signals are generated to provide automatic control of the movement of the vessel at a given angle. In the heading angle adjuster, a signal is formed - ϕ _zd = f (t), which is input to the adder input, to the second input of which a signal for estimating the course angle - ϕ is input. The evaluation signal ϕ is introduced from the filter in which the evaluation is formed. The output of the adder-regulator generates a signal of a given value of the rudder angle - δ _rear :

$${\delta }_{sd}={\mathrm{TO}}_{\mathrm{one}}\left(\varphi -{\varphi }_{sd}\right)+{\mathrm{TO}}_{2}d/dt\varphi \left(\mathrm{one}a\right),$$

where ϕ, the signal for estimating the heading angle, comes from the filter without high-frequency noise and interference,

δ _rear - signal of a given rudder angle (from the output of the adder, which is input to the input of the steering gear).

Thus, in the considered methods of controlling the angular movement of the vessel, signals are generated to ensure automatic control of the vessel's movement at a given angle, using either noisy signals (according to dependence (1) directly measured by the sensor), or using estimates (1a) (see patent RU No. 222.31.97, adopted as a prototype). The advantage of the considered method of controlling the movement along the angle of the ship’s course, using estimates of the angular coordinates, is the reduction in the load of the steering gear during heavy seas. However, the known methods of controlling the movement of the vessel have the following disadvantages:

- the ship traffic control system is not fault tolerant,

- there are no built-in means of monitoring the health of information sources,

- failure of the sensors of the phase state of the vessel leads to emergency situations,

- failure of computer networks for processing input information (including filtering) also leads to emergency situations.

The technical result of the proposed method of moderate roll of the vessel is:

- the introduction of a second filter, a second roll sensor and a diagnostics unit with switching, which made it possible to increase the stabilization accuracy while reducing the load on the steering gear (with strong sea waves);

- to monitor the health of the ship’s moderate rolling system and rebuild the architecture of the automatic motion control system (SAUD) in case of a roll sensor failure or a failure in the network for generating roll angle estimates (including a filter failure). The implementation of the proposed technical result allows us to attribute such a system of moderate rolling of the vessel to the category of fault-tolerant.

The technical result - the construction of a method of fault-tolerant control of the angular movement of the vessel is achieved through the introduction of:

- measuring channel health monitoring systems,

- an excess meter (second roll angle sensor) and a filter for forming a roll angle estimate,

- a diagnostic unit with switching channels for forming an estimate of the average value of the angle of heel, which leads to an increase in the stabilization accuracy, and also to a decrease in the load of the executive organs (in conditions of strong sea waves).

Method for fail-safe moderate roll of hydrofoil

In the method of damping the roll of a hydrofoil vessel, a flap angle sensor unit δ _pr (starboard), δ _lion (starboard), a roll angle sensor θ ₁ , a differentiation unit, a flap drive unit δ _pr and δ _lion , a control unit (adders) are used ), the inputs of which introduce signals:

- deviations of the flap angles δ _pr (starboard) and δ _lion (starboard),

- the derivative of the roll angle d / dtθ.

At the output of the block of controllers, control signals for the angle of rotation of the flaps δ _pr and δ _lion are introduced, which are introduced into the block of flap drives δ _pr (starboard) and δ _lion (starboard). To achieve the proposed technical result, use is made of a vessel speed sensor V (realigning the parameters of the mathematical model of the angular motion of the vessel included in the filter structure for the formation of heel angle estimates), (second) heel angle sensor θ ₂ , a block of average heel angle estimation θ _sr , two blocks for diagnosing roll angle estimates θ ₁ , θ ₂ and two filters for forming roll angle estimates θ ₁ and θ ₂ . The first and second inputs of both filters of the formation of an angle estimate of the roll angle θ ₁ and θ ₂ respectively enter the signals:

- deviations of the flap angles δ _pr and δ _lion (c block of sensors for the angle of rotation of the flaps δ _pr , δ _lion ),

- ship speed - V (from the ship's speed sensor).

The third shaping filter bank angle estimates θ ₁ input administered roll angle signal θ ₁ (a roll angle sensor θ _1).

The third shaping filter bank angle estimates θ ₂ input signal is introduced (second) roll angle θ ₂ (with the (second) sensor roll angle θ _2). (B filters estimates the roll angle θ ₁ and θ ₂ forming roll angle estimates θ ₁ and θ _2, the method of Kalman filtering using the vessel angular motion models roll angle).

The input of the diagnostic unit θ ₁ introduces signals:

- roll angle in θ ₁ with a roll angle sensor θ ₁ ),

- estimates of the angle of heel θ ₁ (from the output of the filter estimates of the angle of heel θ ₁ ).

The input of the diagnostic unit θ ₂ enter the signals:

- roll angle θ ₂ (with a roll angle sensor θ ₂ ),

- estimates of the angle of heel θ ₂ (from the output of the filter estimates the angle of heel θ ₂ ).

In two diagnostic blocks θ ₁ inform the signals of the difference modules: | θ ₁ -θ ₁ | and | θ ₂ -θ ₂ | (which are used to generate a failure signal in the line for generating an estimate of the angle of heel θ ₁ or in the line for generating estimates of the (second) angle of heel θ ₂ , in accordance with condition (2a or 2b)).

1. In normal swimming conditions (there are no failures) in the diagnostic blocks, condition (2) is satisfied:

$$|\; |\; |{\theta }_{\mathrm{one}}-{\theta }_{\mathrm{one}}|\; |\; |<C_{\mathrm{one}}\text{and}|\; |\; |{\theta }_2-{\theta }_2|\; |\; |<C_{\mathrm{one}}\left(\text{2}\right),$$

where θ ₁ and θ ₂ are the roll angles coming from the roll sensor θ ₁ and the roll sensor θ ₂ ,

θ ₁ and θ ₂ are the roll angle estimates received from the roll angle estimation filter θ ₁ and from the roll angle estimation filter θ ₂ ,

C ₁ - constant, set by the skipper.

Signals θ ₁ and θ ₂ - estimates of the angle of heel (if condition (2) is fulfilled) are input from two diagnostic blocks θ ₁ and θ ₂ into the block of the average value of the estimate of the angle of heel. In the block of the average value of the assessment of the angle of heel form the average value of the assessment of the angle of heel:

θ _cf = (θ ₁ + θ ₂ ) / 2.

The signal of the average value of the estimate of the angle of roll θ _cf from the block of the average value of the estimate of the angle of roll θ _cp is input to the input of the control unit and to the input of the differentiation unit. At the output of the block of regulators, control signals are formed: δ _pr.zd (1b) and δ _lev.zd (1c):

$$d/dt{\delta }_{PR.sd}=+{\mathrm{TO}}_{\mathrm{one}}{\theta }_{\mathrm{from}R}+{\mathrm{TO}}_{2}d/dt{\theta }_{\mathrm{from}R}-{\mathrm{TO}}_3{\delta }_{PR}\left(\text{1b}\right),$$

$$d/dt{\delta }_{le\mathrm{at}.sd}=-{\mathrm{TO}}_{\mathrm{one}}{\theta }_{\mathrm{from}R}-{\mathrm{TO}}_{2}d/dt{\theta }_{\mathrm{from}R}-{\mathrm{TO}}_3{\delta }_{le\mathrm{at}}\left(\text{1c}\right),$$

where θ _cf. , - signal for estimating the average value of the angle of heel (from the output of the block of the average value of estimating the angle of heel),

δ _pr , δ _lion - flap deflection angle signals (from the output of the flap angle sensor block),

δ _pr.zd , δ _lev.zd - signals of a given angle of deflection of the flaps (from the output of the block of regulators are input to the input of the block of actuators of the flaps),

K ₁ , K ₂ , K ₃ - regulation coefficients.

Signals d / dt δ _pr.zd , d / dt δ _lev.zd from the control unit are introduced into the flap drive unit, and the law of automatic dimming of the ship's roll (1b), (1c) is formed using the flaps.

2. In the event of a malfunction in the roll angle damping system, condition (2a) is satisfied (condition (2) is not satisfied):

$$|\; |\; |{\theta }_{\mathrm{one}}-{\theta }_{\mathrm{one}}|\; |\; |\le C_{\mathrm{one}}\text{and}|\; |\; |{\theta }_2-{\theta }_2|\; |\; |>C_{\mathrm{one}}\left(\text{2a}\right)$$

The roll angle estimation signal θ ₂ from the output of the diagnostic unit θ _{2 is} disconnected from the average roll angle estimation value block. (The roll angle estimation signal θ ₁ from the output of the diagnostic unit θ _{1 is} connected to the input of the roll angle average value block.) The roll angle average value form the average roll angle estimate value:

θ _cf = θ ₁ .

The signal θ _cf from the block of the average value for estimating the angle of the angle is fed to the input of the block of controllers, where control signals are generated that enter into the block of flap drives δ _{av. Drive} (drive of the right flap (1b)) and δ _lev.zd (drive of the left flap (1c) )

Signals δ _pr.zd , δ _lev.zd from the control unit are introduced into the flap drive unit, while the law of automatic dipping of the ship's roll (1b), (1c) is formed using the flaps.

3. In the event of a malfunction in the roll angle damping system, condition (2b) is satisfied (condition (2) and condition (2a) are not satisfied):

$$|\; |\; |{\theta }_{\mathrm{one}}-{\theta }_{\mathrm{one}}|\; |\; |>C_{\mathrm{one}}\text{and}|\; |\; |{\theta }_2-{\theta }_2|\; |\; |\le C_{\mathrm{one}}\left(\text{2b}\right)$$

The roll angle estimation signal δ ₁ (in the diagnostic unit θ ₁ ) is disconnected from the average roll angle estimation value block. (The output signal of the roll angle estimate θ ₂ in the diagnostic unit θ _{2 is} connected to the input of the roll angle average value block.) The roll angle average value form the average roll angle estimate value:

θ _cf = θ ₂ .

The signal θ _cf from the block of the average value of the estimation of the angle of the angle is fed to the input of the block of controllers, where control signals are generated that are introduced into the block of flap drives δ _{av. Drive} (drive of the right flap (1b)) and δ _lev.zd (drive of the left flap (1c )).

Fail-safe system of moderate roll of the hydrofoil (see drawing)

Consider the fail-safe system of moderate roll of a hydrofoil vessel, implemented in accordance with the proposed method (see drawing).

The drawing shows a block diagram of a fail-safe system for moderate roll of a hydrofoil ship. The system contains: a block of flap angle sensors δ _pr , δ _lion - 1, a roll angle sensor θ ₁ - 2, a (second) roll angle sensor in θ ₂ - 3, a flap drive unit δ _pr , δ _lion - 4, a block of regulators δ _pr , δ _lev - 5, differentiation unit - 6, roll angle estimation filter θ ₁ - 7, roll angle estimation filter θ ₂ - 8, travel speed sensor V - 9, diagnosis unit for roll angle estimation θ ₁ - 10, assessment diagnostic unit the angle of heel θ ₂ - 11, the block average value estimates of the angle of heel - 12, the control object is the vessel.

When constructing such a system, commercially available rotation angle sensors with a measurement accuracy of at least 1.5%, standard horizontal flap drives, and ship speed meters can be used. Filter roll angle estimates with an electronic dynamic model of the angular rotation of the vessel along the roll, blocks for diagnosing roll angle estimates and the block of regulators can be implemented using elements of analog or digital computer technology.

The moderation of the roll of the hydrofoil vessel reduces the side roll of the vessel, without leading to a significant overload of the flap drives. The facilitated mode of operation of the flap drives even with strong waves at sea is achieved by using the signal for estimating the average angle of heel θ in the laws of stabilization (1b), (1c).

Filters for assessing the angle of heel contain an electronic dynamic model of the angular rotation of the vessel along the bank - 7, 8. To generate signals for estimating the angle of heel, the following signals are input to the input of filters 7, 8:

- flap angles δ _pr , δ _lion from the block of flap angle sensors - 1,

- cruising speed - V from the output of the ship's speed sensor - 9 (to adjust the parameters of the electronic dynamic model of the angular rotation of the vessel along the roll,

- roll angle - θ (measured) from the output of the roll angle sensor - 2 (only connected to the input of the roll angle estimation filter θ ₂ - 7),

- roll angle - θ (measured) from the output of the roll angle sensor - 3 (only connected to the input of the roll angle estimation filter - θ ₁ - 8).

The output of the roll angle sensor - 2 is connected to the first input of the diagnostic unit - 10, and the filter output - 7 is connected to the second input to form the signal difference module | θ ₁ -θ ₁ |.

The output of the roll angle sensor - 3 is connected to the first input of the diagnostic unit - 11, and the filter output - 8 is connected to the second input to form the signal difference module | θ ₂ -θ ₂ |.

From the outputs of the diagnostic blocks 10 and 11, the signal modules: | θ ₁ -θ ₁ | and | θ ₂ θ ₂ | enter into the block of the average value of the angle of heel - 12, where:

- if dependence (2) is satisfied, the average value of the roll angle estimate will be

θ _cf. = (θ ₁ + θ ₂ ) / 2,

- if dependence (2a) is satisfied, the average value of the roll angle estimate will be

θ _cf = θ ₁ ,

- if dependence (2b) is satisfied, the average value of the roll angle estimate will be

θ _cf = θ ₂ ,

The average value of the estimate of the angle of heel - θ _cf from the output of the block the average value of the estimate of the angle of heel - 12 is fed to the input of the block of regulators - 5 and to the input of the differentiation block. At the same time, the control law is formed in the block of flap drives - 4:

- right flaps in accordance with the dependence (1b),

- left flaps in accordance with the dependence (1B).

Claims (1)

A method of fail-safe moderate roll of a hydrofoil vessel, in which they use: a block of flap angle sensors δ _pr , δ _lion , a roll angle sensor θ ₁ , a differentiation unit, a block of flap drives δ _pr , δ _lion , a block of regulators, to the inputs of which signals are input :
- deviations of the flap angles δ _pr and δ _lion (from the block of flap angle sensors δ _pr , δ _lion );
- the derivative of the roll angle d / dt θ (from the differentiation unit),
characterized in that it uses: a vessel speed sensor V, a roll angle sensor θ ₂ , two diagnosis units for estimating a roll angle θ ₁ , θ _2, and two roll angle estimation filters θ ₁ , θ ₂ , to the first inputs of which signals are input:
- deviations of the flap angles δ _pr and δ _lev (from the block of sensors for the angle of rotation of the flaps δ _pr and δ _lev. );
- vessel speed V (from the vessel speed sensor);
the second input of the filter estimates the angle of roll filter θ ₁ signal input roll angle - θ ₁ (a roll angle sensor θ _1), the second input roll angle estimating filter θ ₂ injected signal roll angle - θ ₂ (a roll angle sensor θ ₂₎ , two filters estimates the roll angle θ ₁ and θ ₂ formed assessment roll angle θ ₁ and respectively θ ₂ which is introduced respectively to the first inputs of two diagnostic units bank angle estimates θ ₁ and θ ₂ to a second input diagnostic evaluation θ bank angle block ₁ is introduced heeling angle θ estimation signal ₁ (output from filter bank angle estimates θ ₁₎ and form a module pa NOSTA | θ ₁ - θ ₁ |, the second input roll angle estimating diagnostic block θ ₂ is introduced heeling angle estimation signal θ ₂ (output from the roll angle estimation filter θ ₂₎ and form a modulus of the difference | θ ₂ - θ ₂ |, the two of the roll angle diagnosis diagnosis blocks θ ₁ and θ ₂ are inputted into the roll angle mean value estimation unit θ ₁ and θ ₂ , in the roll angle average value estimation unit θ _cp , a roll angle average value signal is generated by selecting one of three possible conditions (2) , or (2a), or (2b):
| θ ₁ - θ ₁ | <C1 and | θ ₂ - θ ₂ | <C1 (2),
| θ ₁ - θ ₁ | ≤C1 and | θ ₂ - θ ₂ |> C1 (2a),
| θ ₁ - θ ₁ |> C1 and | θ ₂ - θ ₂ | ≤C1 (2b),
when conditions (2) are satisfied, a signal of the average value of the roll angle estimate is generated:
θ _cf = ( θ ₁ + θ ₂ ) / 2,
when conditions (2a) are satisfied, a signal of the average value of the roll angle estimate is generated:
θ _cf = θ ₁ ,
when conditions (2b) are satisfied, they form a signal of the average value of the roll angle estimate:
θ _cf = θ ₂ ,
the signal of the average value of the estimate of the angle of heel - θ _cf from the block of the average value of the estimate of the angle of heel is led to the input of the block of regulators and the differentiation block, in the block of regulators form the law of stabilization of the angle of heel:
d / dt δ _pr.sd = K1 θ _sr + K2 d / dt θ _sr - K3 d / dt δ _pr (1b),
d / dt δ _lev.zd = -K1 θ _cf - K2 d / dt θ _cf - K3 d / dt _lion (1c),
where: θ _cf - signal estimates the average value of the angle of heel,
δ _pr.zd , δ _lev.zd - signals of a given angle of rotation of the right and left flap,
the signals d / dt δ _pr.zd , d / dt δ _lev.zd are input to the block of flap drives,
K ₁ , K ₂ , K ₃ - regulation factors,
the signals d / dt δ _pr.zd and d / dt δ _lev.zd from the output of the regulator block are inputted to the input of the block of flap drives δ _pr.zd , δ _lev.zd to ensure automatic heeling of the hydrofoil.